code: def get_coords(self, heat_map):
      dst_height = self.ori_shape[0] - self.cut_height
      coords = np.zeros(self.points_nums)
      coords[:] = -2
      pointCount = 0
      for i in range(self.points_nums):
          y_coord = dst_height - 10 - i * self.y_pixel_gap
          y = int(y_coord / dst_height * heat_map.shape[0])
          if y < 0:
              break
          prob_line = heat_map[y, :]
          x = np.argmax(prob_line)
          prob = prob_line[x]
          if prob > self.thresh:
              coords[i] = int(x / heat_map.shape[1] * self.ori_shape[1])
              pointCount = pointCount + 1
      if pointCount < 2:
          coords[:] = -2
      self.process_gap(coords)
      return coords
  
file_path: PaddleHub/modules/image/semantic_segmentation/bisenet_lane_segmentation/lane_processor/get_lane_coords.py
imports: import cv2
  import numpy
label_desc: Use image node_id 4 for calling the LaneProcessor obj's underlying member method code with example usage: obj.get_coords(heat_map) and returns: coords